Training.
We use the Adam optimizer [1]} with
a weight decay factor 1e-4. Depending on the dataset size, we train the model on Structured3D for 500 epochs with an initial learning rate 2e-4 and on SceneCAD for 400 epochs with an initial learning rate 5e-5. The learning rate decays by a factor of 0.1 for the last 20% epochs.
We set the coefficients for the matcher and losses to \(\lambda _{\text{cls}}\)  = 2, \(\lambda _{\text{coord}}\)  = 5, \(\lambda _{\text{ras}}\)  = 1
and use a single TITAN RTX GPU with 24GB memory for training.
